# CoCarry: Contact-Support-Structured Retargeting for Dual-Humanoid Cooperative Carrying

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ltf2dwnvu11zjqd9hsjztotvo
- Original: https://arxiv.org/abs/2610.32460

## Summary

CoCarry introduces a dataset and a contact-support-structured retargeting method for dual-humanoid cooperative carrying. The dataset contains 220 synchronized dual-person sequences spanning 21 task schemes, 5 shared-object geometries, and 4 terrain types, totaling about 61 minutes of motion data.